Digital helicopter trainer



Sept. 10, 1968 F. E. PAPIN ETAL DIGITAL HELICOPTER TRAINER 22 Sheets-Sheet 1 Filed Sept. 20, 1966 FIG.

mvmon Franklin E. Pepin James R. Tolera Simeon H CON I l f ATTORNEYS P 0, 1968 F. E. PAPIN ETAL 3,400,471

DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet P,

L TIPPATflPLAN LONG AXIS (X) no FEATHERING AXIS 5H AFT AXIS,

Z 1 FIG.3.

FIG.4.

HORIZON LATERAL AXIS (Y) NO FEATHERING AXIS Pi- 1963 F. E. PAPIN ETAL 3,400,471

DIGITAL HELI COPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet I C) }ENG'INE |GN }ENG2INE LANDING cam Il-oovm a nu. WHEEL A LOOKED smoeu'r's srmon I nun. no.7. ww-zw uo'ron A A I F ROLL t A A n H nave 2 PITCH M75 moron v moron mums LEGEND FI'G.60.

FIG.60. FlG.6b. FIB.6C.

P 0, 1968 F. E. PAPIN ETAL 3,400,471

DIG ITAL HELI COPTER TRAINER Filed Sept. 20, 196$ 22 Sheets-Sheet 4 DISCRETE INPUTS DATA PROCESSOR INSTRLWTOR ANALOG DISGRETE DISCRETE ueave TTIDUDE CRASH 'fi LANDING GEAR o o aa+rneszs 40 RESET emu-"r 57 To enouno PANE L FIOJ. FIED) ms'rRucToR's TATION Fl6.6b.

Sept. 10, 1968 F. E. PAPIN ETAL DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet '7 8| m H3\ oirrPuT ||4 PARALLEL BUFFER OUTPUT 4 CHANNEL "8 9e uz L 1v PARALLEL loa INPUT CHANNEL [97 '23 INPUT 9u GATING /92 nor, OCPS [m1 iss I SENSE im LINES L m LOGIC cYcLs INTERRUPTS TIMER 43s I34 '28 /l27 FREEZE STATIONS 50 a 50 RESET LEGEND Flaeu. FIG-8b. 8G.

Sept. 10, 1968 F. a. PAPIN ETAL DIGITAL HELICOPTER TRAINER 22 Sheets-Sheet 9 e 6 9 l 0 2 n m d 0?- m 8. me: m 1 +2, 0 n I; 9.; E; n in 5 332w 532m in 05 oz; 592w oz; 22 50.256 335 3.

OZMOuJ Sept. 10, 1968 F. E. PAPIN ETAL DIGITAL HELICOPTER TRAINER 22 Sheets-Sheet 10 Filed Sept. 20, 1966 5 n-IOO 222 Oh MPuKOw-Q Z lw /i mm mm C(m imaa 522m 8. 5 35.

p 10, 1968 F. E. PAPIN ETAL. 3,400,471

DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet ll WIND VELOCITY BAR FIELD WIND PRES. ELE. DIR.

FIGJO.

Sept. 10, 1968 Filed Sept. 20, 196E F. E. PAPIN ETAL DIGITAL HELICOPTER TRAINER 22 Sheets-Sheet 14 AU BUSS PROGRAM I L coum'sn I MEMORY I I- T I I 265 I 2s2- I 212 I I I I I I x I MAR. P I ADDER I I [2 ans I I2 ans 23 ans I I 'f I I I I I 218 I \254 I I couursa 257 I I am 273 I 2 1 I 279 I I I s I I I I 82 x2 MEMORY I s BITS I I I I I I I5 en's I I 259 I I I I I I I ass I I I I I "I I MIR I z I 2% I A a I I 24 ans I I 24 ans I LBI'NARYJI man's man's I I I l I 1 I I I I I L L 1 I TRANSFER BUSS OP-CODE I I I I I I 284 25a ai Z I I\JN'PUT OUTPUT I/ G BITS U CLOCK I TRANSFER auss I I OP-CODE I MATRIX I 28 I 268 I I I I I cLocK I INTERRUPT INPUT-OUTPUT 0cm mnmx :I CONTROL CHANNELS I 2691 I I 22 I FIG.

P 0, 1968 F. E. PAPIN ETAL 3,400,471

DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet 15 SET SET YES no ANG. 2.1T Ans; ANG.-21T SIGN cousrmrs FOR QUAD. 1

INPUT FIX ANGLE m PROPER RADIANS SN s SET I 5 YES SIGN OONSTANTS STORE ANGLE P05. i FOR QUAD n (Awe) YES IN(TEMP+I) SET no No ANG T1 s|s- CONSTANTS COMPUTE CONPUTE FOR oumm 005 an (ANGLE) YES No SET 7 ANG. 21T SIGN OONSTANTS Fix FOR QUAD. m PROPER cousuuf SET GOMPUTE Ami 0; R: nus. STORE STORE fsfz i 2 R cos ANG) IN (TEMP) OUTPUT cosums.) IN 'A E suue.) |N"a" COMPUTE compur DENOMINATOR STORE NuMERA'roR DENOMINATOR SIN 2 R RETURN TO TANR. TANR ROUTINE FIG.|4.

Sept. 10, 1968 Filed Sept. 26, 1966 DISCRETE OUTPUTS LEADS F. E. PAPIN ETAL.

DIGITAL HELICOPTER TRAINER DIGIT SWITCH N0! INPUTS BETA PSI DOT SYSTEM 0U PUT RESET /5? T cosmfl hp) SYSTEM FREEZE TANGENTIAL OUTPUT- VELOCITY sm.(2 n hp) DISCRETE 'NPUTS VERTICAL LO VELOCITY mggx V (U W!) RADIAL BLADE ELEMENT PITCH ANGLE (elf-y) No.2 INPUT DIGIT SWITCH ANALOG IN PUTS INTER COM PUTER TRANSFER ROTOR AERODYNAM IO 5 22 Sheets-Sheet 16 OUTPUT FUS. ROLL ANGLE LO AD INDEX WITH-l2 P 10, 1968 F. E. PAPIN ETAL 3,400,471

DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 I 22 Sheets-Sheet 17 ROTOR DRAG MAI N ROTOR BLADE ELEMENT TORQUE INFLOW ANGLE wl (PSI-Y) ALPHA PSI-Y i W ly-y) d 7y) YES MAIN ROTOR co EFFICIENT Ll 7 or LIFT L R w-y x FORCE DUE TO mun ROTOR OUTPUT COEFFICIENT monou SYSTEM V DRAG PITCH cum.

( Y FORCE DUETO MAI N ROTOR OUTPUT MOTION SYSTEM ROLL CHAN.

ROTO R. ROLL MOMENTS ROTOR PITC H MOMENTS 7 n 3 LIFT PSI (L7H OUTPUT MOTION SYSTEM HEAVE CHAN.

M BETA PSI FLAP ANGLE J COEF FS.

0 PSI (of) Sept. 10, 1968 F. E. PAPIN EITAL 3,400,471

DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet 18 ENGINE? ENGINE'Z ROTOR HUB ROLL ENGINE WENT FUNCTION (7RH) V ENGINE ROTORHUEPITOH ENGINE 2 EQUAT'ONS MOMENT COMPUTATIONS I FuNc'noN FlRE OFF ROTOR CALCULATIONS FUNCT'ONS R s TRANSFERRED OF BOTH Fl E l OFF 1'0 ENGINES AUXILIARY OUTPUT 1 OUTPUT RATE or o ENGINE TORQUE FUSELAGE PITCH I NORMAL MODE ANGLE GLE(OF) L". OUTPUT A-O UPDATE TURN INTEGRATION INDICATOR coEFFecaENTs GAS ENGINE SPEED COMPUTATIONS ENGINE SIMULATION m ENG'NES GAS GEN. SPEED POWER 7 FIRE OFF FACTOR N ENGINE OUTPUT t s) LOGIC SUP INDICATOR OUTPUT INSTR. w

SET AIRSPEEO wax ro-z OUTPUT PILOTS AIRSPEED p 1968 F. E. PAPIN ETAL 3,400,471

DIGITAL HELICOPTER TRAINER Filed Sept. 20, 1966 22 Sheets-Sheet 19 ao'rn OUTPUT ENGINES COMPLETE ens as u. SPEED "e OUTPUT OME G A POWER TURBINE SPEED OUTPUT POWER INTERRUPT TURBINE SP. CONTROL OUTPUT ENGINE TORQUE E RETU R N moex 1 AND ENG.

LEGEND RETURN TO ENGNE FIGJSO FIGJSb. FIGJSC. FIGJSd.

FIG. l5d.

p 0, 1968 F. E. PAPIN ETAL 3,400,471

DIGITAL HELICOPTER TRAINER 22 Sheets-Sheet 2O NORMAL FUSELAGE I sTART N Lo GITUDINAL RIGHT AND I F) LEFT WHEEL I TOUCH DOwN INTER-COMPUTER FusELAGE I I TRANsFER VERTWZAL TAIL WHEEL E F) TouGIIDOwN EFFECTIVE FUSELAGE FLIGHT CONTROL 5mg FORCE LANDING GEAR F LONGITuOINAL I I FORCE LGI AuTONIATIc STABILIZATION FUSELAGE I I ROLLING MOMENT vERTIOAL PITCH ANGLE (7F) LANDING GEAR 0F TAIL ROTOR I FORCE (ZLGI (QTRI FUSELAGE I PITCHING I IIONIENT LANDING GEAR NI ROLLING LATERAL I V LOOITY I "WENT OF TAIL ROTOR (7LG) (VTRI FusELAGE I YAwING vERTIOAL (NH MOMENT VELOCITY I ("L6, or TAIL ROTOR FUSELAGE WTRI DYNAMIO I I Eq$SURE TAIL WHEEL COEFF. TNRusT I YAw MOMENT OF TAIL ROTOR INTI", (CTTR) STORE OUTPUT I I DYNAMIC uw PRESSURE (Um LATERAL FORGE OF TAIL ROTOR I (Tm) LANDING GEAR vw RETRAOTION (vw) I TIME I TAIL ROTOR won I ww TORDuE ITRI D'SCRETE (Wm OUTPUT BITS FUSELAGE LEGEND G.

FIGJGQ FIGJGb. HQ 166. 

